#ifndef _STATE_ESTIMATION__AXIS_TRANS_H_
#define _STATE_ESTIMATION__AXIS_TRANS_H_

void quat2angle(float *angle, float *quat);
void angle2quat(float *quat, float *angle);
void quat2cbn(float *cbn, float *quat);
void quat_normalize(float *quat);
void angle2cbn(float *cbn, float *angle);

void acc2angle(float *acc, float *angle);
void mag2angle(float *mag, float *angle);

float wrap_2pi(float angle);
float wrap_pi(float angle);

#endif
